IkaTools | EulerQuat

3D Rotation Visualization

Matrix method

Loading rotation scene...

Quaternion Representation

Axis Vector And Angle: --
q0: --
q1: --
q2: --
q3: --
Quaternion: --
Matrix delta: --

Rotation Matrix (Z-Y-X)

| cphi ctheta   cphi stheta spsi - sphi cpsi   cphi stheta cpsi + sphi spsi |
| sphi ctheta   sphi stheta spsi + cphi cpsi   sphi stheta cpsi - cphi spsi |
| -stheta       ctheta spsi                    ctheta cpsi                  |

--	--	--
--	--	--
--	--	--

Rotation Convention

The tool uses the same Z-Y-X convention as the MATLAB GUI: phi rotates about Z, theta about Y, and psi about X.

R = Rz(phi) Ry(theta) Rx(psi)

The quaternion path multiplies scalar-first axis quaternions in the same order: q = qz qy qx.